Motor Stalled Error c123_124

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    C123 Parker Hannifin CorporationCompumotor DivisionRohnert Park, California

    Catalog 8000-2/USA Model 400Motion Controlle

    Encoder Position Maintenance

    The indexer may be configured to resist any spontaneouschange in position when at rest. In Position Maintenancemode, the indexer repeatedly compares actual encoder step

    reference position with desired position while the motor isstopped. If external forces cause the encoder position tochange, an error will be detected. The magnitude of this errordetermines the magnitude of the indexer's correctionresponse. The correction response calculation yields acorrection velocity, the stepper will then drive at the correctionvelocity until the error is reduced to zero.

    Encoder position maintenance is often used in machining andmetal removal applications. During a metal removal operation,forces can be developed and transmitted that cause themotor shaft to deflect. The indexer will sense the movementby counting the subsequent encoder steps. To maintain orcompensate for the undesirable movement, the indexer willcommand the motor to return to the desired stop location.

    Encoder Referenced Positioning

    Indexers typically operate using position parameters in units ofmotor steps. With Position Tracking, the parameters can be inunits of encoder steps. In this mode, when making a presetmove, the indexer sends out step pulses to the motor until thecorrect number of encoder steps is returned.

    Position information provided by the indexer may be in units ofeither encoder steps or motor steps.

    Position Tracking

    Encoder feedback can provide improved system accuracy,stall detection and peace of mind. Closed-loop positioning ismost frequently used in critical applications to compensate forthe mechanical elements of the system.

    Position Tracking provides circuitry to interface an incremental

    optical encoder with a Compumotor Indexer. Dual-channelincremental encoder with quadrature and with single-endedor differential-TTL outputs may be used. The encoder may beused as part of a closed-loop system or as an independentmeans to verify position. The encoder may also be used todetect whether a stall has occurred during a move. TheCompumotor Indexers listed below support Position Tracking,using virtually any incremental encoder.

    Model Number:

    500, AT6400, AT6200, PC21, 4000, SX, 6200, 6201

    The number of encoder steps seen by the Indexer is equal tofour times the number of encoder lines. For example, a1,000-line encoder mounted directly on the motor willgenerate 4,000 encoder steps for each revolution of themotor shaft. A minimum of three motor steps per encoderstep is required for successful operation of the PositionMaintenance function. In the example above, a motorresolution of better than 12,000 steps/rev would be required.

    If a reducer is introduced between the motor shaft and theencoder, the number of encoder steps/rev must be dividedby the equivalent gear ratio to define the number of encodersteps received by the indexer.

    Motor Stall Detection

    When the motor is being moved, the indexer repeatedlycompares the number of encoder steps coming in against thenumber of motor steps being sent out. If the encoder positiondeviates excessively from the desired position in the course ofa move, the indexer assumes the motor has stalled.

    This feature has several optional configurations. These includesetting a window of allowable deviation to account formechanical backlash and motor wind-up, terminating themove and/or sending an output signal is all stall is detected.

    Applications where stall detection could be useful include:positioning glass vials in blood analysis, chemical mixing, X-ray head/table positioning, laser or water jet cutting, polishingmirrors for telescopes or drawing fiber optics.

    Incremental Encoders

    Incrementa

    Encoders

  • 8/3/2019 Motor Stalled Error c123_124

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    C124 Parker Hannifin CorporationCompumotor DivisionRohnert Park, California

    Catalog 8000-2/USA

    Indexer

    Specifications

    Mechanical

    Starting torque (oz-in) 0.5at 77F (25C) (N-m) (.003)

    Moment of inertia 0.22 oz-in sec2

    Weight oz (kg) 10 (0.28)

    Bearing life 1x109 revolutions

    Max operating speed 3,000 rpm

    Electrical

    Input power 5VDC 5%, 125 ma

    Output format 2 channels (A and B)quadrature Z channel once/rev

    Environmental

    TemperatureOperating 32 to 158F

    (0 to 70C)

    Storage -25 to 194F(-32 to 90C)

    Shock 10 G's for 11 msec duration

    Vibration 20 to 2,000 Hz at 5 Gs

    E option (57 size) encoder can be ordered with the followingmotor/drives:

    SX57-51 S57-51 LN57-51 6201-57-51-MO

    SX57-83 S57-83 LN57-83 6201-57-83-MO

    SX57-102 S57-102 LN57-102 6201-57-102-MO

    -E Option

    The -E option is an incremental 1,000-line rotary encoder,factory mounted and coupled directly to the rear shaft andend bell of a stepping motor. These can also be ordered askits for field retrofits.

    Compumotor offers the -E options on the S and LN seriesmicrostepping motor/drive systems, which are alsocompatible with the following Compumotor Indexers; 500,

    AT6400, 6200, 4000, PC21, and SX.

    Pin Connections

    All -E option encoders come standard with a 10-foot cableand 25-pin D connector.

    Pin No. Description

    1 Brown Channel A2 Brown/White Channel A return3 Green Channel B4 Green/White Channel B return5 Orange Channel Z6 Orange/White Channel Z return7 NC8 Shield Case Ground

    9-13 NC14 Black Common

    15-22 NC23 Red 5VDC

    24-25 NC

    Dimensions () denotes millimeters

    E57

    E83

    E option (83 size) encoder can be ordered with the followingmotor/drives:

    SX(F)83-62 S83-62 LN83-62

    SX(F)83-93 S83-93 6201-83-62-MO

    SX(F)83-135 S83-135 6201-83-93-MO6201-83-135-MO

    E option (106 size) encoder can be ordered with thefollowing motor/drives:

    SX(F)106-178 S106-178SX(F)106-250 S106-250SX(F)106-205 S106-205

    E106

    Indexer Drive Motor

    Encoder

    2.95(74.93)

    1.63

    (41.40)2.1

    (53.34)

    4.71

    2.50

    (63.5)1.63

    (41.4)

    (119.63)

    3.57

    2.50

    (63.5)1.63

    (41.4)

    (90.68)